diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 5cf0df43721c50a0499860e4c8c32ee44bde0f81..bfa97db1e1afe59d2bd03bc47af21ea60fe3968f 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -442,10 +442,11 @@ namespace armarx::armem::gui
{
std::string name = memory.id().memoryName;
- auto commit = armem::toCommit(memory);
-
if (memoryWriters.count(name) > 0)
{
+ // we need to merge the current memory with the one from the disk.
+ // Please note that this may ignores coresegments, if not already existent
+ auto commit = armem::toCommit(memory);
memoryWriters.at(name).commit(commit);
}
else
@@ -456,10 +457,9 @@ namespace armarx::armem::gui
// Please note: Here we assume that a memory server with the same name does not exist.
// I think this assumption is ok, since nobody should use filepaths as memory name.
// Nonetheless, we did not restrict the user to do so...
- std::string virtualMemoryName = name + " (at " + path.string() + ")";
- wm::Memory virtualMemory(virtualMemoryName);
- virtualMemory.update(commit, true, false);
- memoryData[virtualMemoryName] = std::move(virtualMemory);
+ std::string virtualMemoryName = name;// + " (at " + path.string() + ")";
+ memory.id().memoryName = virtualMemoryName;
+ memoryData[virtualMemoryName] = std::move(memory);
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
index c36d567350b3050ed49e7d362dfcaf2f63f3a643..58e15d056ae74b3d79b48ef917822d20c9de206c 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.cpp
@@ -51,18 +51,29 @@ namespace armarx::armem::gui::instance
}
else
{
- return;
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
}
try
{
key = path.getLastElement();
+ if (!elementData)
+ {
+ // push NULL
+ jsonStack.push({key, nullptr});
+ }
+ else
+ {
+ // push new object as there is data
+ jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::object)});
+ }
}
catch (const aron::error::AronException& e)
{
// This happens when we start at the top-level object.
+ jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::object)});
}
- jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::object)});
}
void
@@ -111,10 +122,34 @@ namespace armarx::armem::gui::instance
}
void
- TreeTypedJSONConverter::visitListOnEnter(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitListOnEnter(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::array)});
+ std::string key = "";
+ aron::Path path;
+ if (elementData)
+ {
+ path = elementData->getPath();
+ }
+ else if(elementType)
+ {
+ path = elementType->getPath();
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
+
+ key = path.getLastElement();
+
+ if (!elementData)
+ {
+ jsonStack.push({key, nlohmann::json(nlohmann::json::value_t::array)});
+ }
+ else
+ {
+ jsonStack.push({key, nullptr});
+ }
}
void
@@ -128,115 +163,263 @@ namespace armarx::armem::gui::instance
void
TreeTypedJSONConverter::visitMatrix(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- auto t = *aron::type::Matrix::DynamicCastAndCheck(elementType);
- nlohmann::json obj;
- if (nd.getType() == "float")
+ if (elementData)
{
- Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>> m(
- reinterpret_cast<float*>(nd.getData()), t.getRows(), t.getCols());
- Eigen::to_json(obj, m);
+ auto e = aron::data::NDArray::DynamicCast(elementData);
+ auto t = *aron::type::Matrix::DynamicCastAndCheck(elementType);
+
+ auto& nd = *e;
+ const std::string key = nd.getPath().getLastElement();
+
+ nlohmann::json obj;
+ if (nd.getType() == "float") // TODO: are these types correct?
+ {
+ Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<float*>(nd.getData()), t.getRows(), t.getCols());
+ Eigen::to_json(obj, m);
+ }
+ else if (nd.getType() == "double")
+ {
+ Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<double*>(nd.getData()), t.getRows(), t.getCols());
+ Eigen::to_json(obj, m);
+ }
+ else
+ {
+ obj = handleGenericNDArray(nd);
+ }
+
+ insertIntoJSON(key, obj);
}
- else if (nd.getType() == "double")
+ else if(elementType)
{
- Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>> m(
- reinterpret_cast<double*>(nd.getData()), t.getRows(), t.getCols());
- Eigen::to_json(obj, m);
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
}
else
{
- obj = handleGenericNDArray(nd);
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
}
- insertIntoJSON(key, obj);
}
void
- TreeTypedJSONConverter::visitNDArray(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitNDArray(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, handleGenericNDArray(nd));
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+ else if(elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitQuaternion(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitQuaternion(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- nlohmann::json obj;
- Eigen::to_json(obj, aron::data::converter::AronEigenConverter::ConvertToQuaternionf(nd));
- insertIntoJSON(key, obj);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ nlohmann::json obj;
+ Eigen::to_json(obj, aron::data::converter::AronEigenConverter::ConvertToQuaternionf(nd));
+ insertIntoJSON(key, obj);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
+
}
void
- TreeTypedJSONConverter::visitImage(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitImage(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, handleGenericNDArray(nd));
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitPointCloud(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitPointCloud(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, handleGenericNDArray(nd));
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ auto nd = *aron::data::NDArray::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, handleGenericNDArray(nd));
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
TreeTypedJSONConverter::visitIntEnum(DataInput& elementData, TypeInput& elementType)
{
- /* Not handled by the TreeTypedDataVisitor either */
+ this->visitInt(elementData, elementType);
}
void
- TreeTypedJSONConverter::visitInt(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitInt(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- int i = *aron::data::Int::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, i);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ int i = *aron::data::Int::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, i);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitLong(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitLong(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, l);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ int64_t l = *aron::data::Long::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, l);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitFloat(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitFloat(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- float f = *aron::data::Float::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, f);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ float f = *aron::data::Float::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, f);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitDouble(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitDouble(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- double d = *aron::data::Double::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, d);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ double d = *aron::data::Double::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, d);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitBool(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitBool(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- bool b = *aron::data::Bool::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, b);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ bool b = *aron::data::Bool::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, b);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
void
- TreeTypedJSONConverter::visitString(DataInput& elementData, TypeInput& /*elementType*/)
+ TreeTypedJSONConverter::visitString(DataInput& elementData, TypeInput& elementType)
{
- const std::string key = elementData->getPath().getLastElement();
- std::string s = *aron::data::String::DynamicCastAndCheck(elementData);
- insertIntoJSON(key, s);
+ if (elementData)
+ {
+ const std::string key = elementData->getPath().getLastElement();
+ std::string s = *aron::data::String::DynamicCastAndCheck(elementData);
+ insertIntoJSON(key, s);
+ }
+ else if (elementType)
+ {
+ std::string key = elementType->getPath().getLastElement();
+ insertNULLIntoJSON(key);
+ }
+ else
+ {
+ // should not happen
+ throw aron::error::AronException(__PRETTY_FUNCTION__, "Both, data and type are NULL.");
+ }
}
//void
@@ -266,6 +449,19 @@ namespace armarx::armem::gui::instance
}
}
+ void
+ TreeTypedJSONConverter::insertNULLIntoJSON(const std::string& key)
+ {
+ if (jsonStack.top().second.is_object())
+ {
+ jsonStack.top().second[key] = nullptr;
+ }
+ else
+ {
+ jsonStack.top().second.emplace_back(nullptr);
+ }
+ }
+
nlohmann::json
TreeTypedJSONConverter::handleGenericNDArray(const aron::data::NDArray& nd)
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
index e299f8f64974bc32a5af1883fc0a10e52ebdedec..a83a6a2352f88c0c2aed408e38677e1be3c35ecf 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_visitors/TreeTypedJSONConverter.h
@@ -48,6 +48,7 @@ namespace armarx::armem::gui::instance
template <typename ElementType>
void insertIntoJSON(const std::string& key, const ElementType& data);
+ void insertNULLIntoJSON(const std::string& key);
static nlohmann::json handleGenericNDArray(const aron::data::NDArray& nd);
};
diff --git a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
index b0799cdbd06bc44004359ebf87a1e1469296f18d..d060c70606a439a9b7abe8ec03f89c565aefaa17 100644
--- a/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.cpp
@@ -508,7 +508,7 @@ namespace armarx::aron::data
RecursiveConstTypedVariantVisitor::GetObjectElementsWithNullType(DataInput& o, TypeInput& t)
{
std::map<std::string, std::pair<aron::data::VariantPtr, aron::type::VariantPtr>> ret;
- auto data = aron::data::Dict::DynamicCastAndCheck(o);
+ auto data = aron::data::Dict::DynamicCast(o);
auto type = aron::type::Object::DynamicCastAndCheck(t);
if (data)